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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
2947642e | 4 | import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; |
047383c3 | 5 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 6 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
e7553681 | 7 | import org.usfirst.frc.team3501.robot.subsystems.Photogate; |
02cb494e | 8 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
40348cab E |
9 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
10 | ||
e7553681 | 11 | import edu.wpi.first.wpilibj.I2C; |
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12 | import edu.wpi.first.wpilibj.IterativeRobot; |
13 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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14 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
15 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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16 | |
17 | public class Robot extends IterativeRobot { | |
18 | public static OI oi; | |
19 | public static DriveTrain driveTrain; | |
40348cab | 20 | public static Shooter shooter; |
2c9f5abb | 21 | |
02cb494e | 22 | public static Scaler scaler; |
c97fbce2 | 23 | |
a96fa926 | 24 | public static IntakeArm intakeArm; |
200caf63 | 25 | public static DefenseArm defenseArm; |
38a404b3 | 26 | |
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27 | public static Photogate photogate; |
28 | ||
88e66b4e | 29 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 30 | SendableChooser positionChooser; |
6947c8a4 | 31 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
c58ba1d7 | 32 | positionFourDefense, positionFiveDefense; |
3366a59a | 33 | |
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34 | // Gyro stuff |
35 | public GyroLib gyro; | |
36 | ||
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37 | @Override |
38 | public void robotInit() { | |
9742fe2e KZ |
39 | driveTrain = new DriveTrain(); |
40 | oi = new OI(); | |
2ac0cc17 | 41 | |
1e41dfe4 | 42 | shooter = new Shooter(); |
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43 | scaler = new Scaler(); |
44 | intakeArm = new IntakeArm(); | |
1e41dfe4 | 45 | |
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46 | // initializeSendableChoosers(); |
47 | // addPositionChooserOptions(); | |
48 | // addDefensesToAllDefenseSendableChoosers(); | |
49 | // sendSendableChoosersToSmartDashboard(); | |
9742fe2e | 50 | |
3366a59a ME |
51 | } |
52 | ||
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53 | private void initializeSendableChoosers() { |
54 | positionChooser = new SendableChooser(); | |
55 | positionOneDefense = new SendableChooser(); | |
56 | positionTwoDefense = new SendableChooser(); | |
57 | positionThreeDefense = new SendableChooser(); | |
58 | positionFourDefense = new SendableChooser(); | |
59 | positionFiveDefense = new SendableChooser(); | |
60 | } | |
61 | ||
29d59f48 ME |
62 | private void addPositionChooserOptions() { |
63 | positionChooser.addDefault("Position 1", 1); | |
64 | positionChooser.addObject("Position 2", 2); | |
65 | positionChooser.addObject("Position 3", 3); | |
66 | positionChooser.addObject("Position 4", 4); | |
67 | positionChooser.addObject("Position 5", 5); | |
68 | } | |
69 | ||
9742fe2e | 70 | private void addDefensesToAllDefenseSendableChoosers() { |
29d59f48 ME |
71 | addDefenseOptions(positionOneDefense); |
72 | addDefenseOptions(positionTwoDefense); | |
73 | addDefenseOptions(positionThreeDefense); | |
74 | addDefenseOptions(positionFourDefense); | |
75 | addDefenseOptions(positionFiveDefense); | |
76 | } | |
77 | ||
78 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
79 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
80 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
81 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
82 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
83 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
84 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
85 | chooser.addObject("Moat", Defense.MOAT); | |
86 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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87 | } |
88 | ||
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89 | private void sendSendableChoosersToSmartDashboard() { |
90 | SmartDashboard.putData("PositionChooser", positionChooser); | |
91 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
92 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
93 | SmartDashboard.putData("Position Three Defense Chooser", | |
94 | positionThreeDefense); | |
c58ba1d7 HD |
95 | SmartDashboard |
96 | .putData("Position Four Defense Chooser", positionFourDefense); | |
97 | SmartDashboard | |
98 | .putData("Position Five Defense Chooser", positionFiveDefense); | |
99 | ||
100 | SmartDashboard | |
101 | .putData("Position Four Defense Chooser", positionFourDefense); | |
102 | SmartDashboard | |
103 | .putData("Position Five Defense Chooser", positionFiveDefense); | |
e23bfd98 | 104 | |
29d59f48 ME |
105 | } |
106 | ||
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107 | @Override |
108 | public void autonomousInit() { | |
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109 | Scheduler.getInstance().run(); |
110 | ||
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111 | // // get options chosen from drop down menu |
112 | // Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
113 | // Integer chosenDefense = 0; | |
114 | // | |
115 | // if (chosenPosition == 1) | |
116 | // chosenDefense = (Integer) positionOneDefense.getSelected(); | |
117 | // else if (chosenPosition == 2) | |
118 | // chosenDefense = (Integer) positionTwoDefense.getSelected(); | |
119 | // else if (chosenPosition == 3) | |
120 | // chosenDefense = (Integer) positionThreeDefense.getSelected(); | |
121 | // else if (chosenPosition == 4) | |
122 | // chosenDefense = (Integer) positionFourDefense.getSelected(); | |
123 | // else if (chosenPosition == 5) | |
124 | // chosenDefense = (Integer) positionFiveDefense.getSelected(); | |
125 | // | |
126 | // System.out.println("Chosen Position: " + chosenPosition); | |
127 | // System.out.println("Chosen Defense: " + chosenDefense); | |
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128 | } |
129 | ||
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130 | @Override |
131 | public void autonomousPeriodic() { | |
132 | Scheduler.getInstance().run(); | |
133 | } | |
134 | ||
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135 | @Override |
136 | public void teleopInit() { | |
86d7310b | 137 | Robot.driveTrain.setLowGear(); |
1e41dfe4 | 138 | Robot.shooter.raiseHood(); |
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139 | } |
140 | ||
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141 | @Override |
142 | public void teleopPeriodic() { | |
143 | Scheduler.getInstance().run(); | |
93241e25 | 144 | if (OI.rightJoystick.getTrigger()) { |
1e41dfe4 | 145 | Robot.shooter.setSpeed(.8); |
93241e25 HD |
146 | } else { |
147 | Robot.shooter.setSpeed(0); | |
148 | } | |
1e41dfe4 HD |
149 | if (OI.rightJoystick.getRawButton(2)) { |
150 | Robot.shooter.extendPunch(); | |
151 | } else { | |
152 | Robot.shooter.retractPunch(); | |
153 | ||
154 | } | |
1e039ebd E |
155 | } |
156 | ||
38a404b3 | 157 | } |